MPU-9250 Product Specification Revision 1 - …

1 InvenSense Inc. 1745 Technology Drive, San Jose, CA 95110 Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: Document Number: PS-MPU-9250A- 01 revision : Release Date: 06/20/2016 Page 1 of 42 MPU-9250 Product Specification Revision MPU-9250 Product Specification Document Number: PS-MPU-9250A- 01 revision : Release Date: 06/20/2016 Page 2 of 42 CONTENTS 1 DOCUMENT INFORMATION .. 4 Revision HISTORY .. 4 PURPOSE AND SCOPE .. 5 Product OVERVIEW .. 5 APPLICATIONS .. 5 2 FEATURES .. 6 GYROSCOPE FEATURES .. 6 ACCELEROMETER FEATURES .. 6 MAGNETOMETER 6 ADDITIONAL FEATURES.

2 6 MOTIONPROCESSING .. 7 3 ELECTRICAL CHARACTERISTICS .. 8 GYROSCOPE SPECIFICATIONS .. 8 ACCELEROMETER SPECIFICATIONS .. 9 MAGNETOMETER SPECIFICATIONS .. 10 ELECTRICAL SPECIFICATIONS .. 11 I2C TIMING CHARACTERIZATION .. 15 SPI TIMING CHARACTERIZATION .. 16 ABSOLUTE MAXIMUM RATINGS .. 18 4 APPLICATIONS INFORMATION .. 19 PIN OUT AND SIGNAL DESCRIPTION .. 19 TYPICAL OPERATING CIRCUIT .. 20 BILL OF MATERIALS FOR EXTERNAL COMPONENTS .. 20 BLOCK DIAGRAM .. 21 OVERVIEW .. 22 THREE-AXIS MEMS GYROSCOPE WITH 16-BIT ADCS AND SIGNAL CONDITIONING.

3 22 THREE-AXIS MEMS ACCELEROMETER WITH 16-BIT ADCS AND SIGNAL CONDITIONING .. 22 THREE-AXIS MEMS MAGNETOMETER WITH 16-BIT ADCS AND SIGNAL CONDITIONING .. 22 DIGITAL MOTION PROCESSOR .. 22 PRIMARY I2C AND SPI SERIAL COMMUNICATIONS INTERFACES .. 23 AUXILIARY I2C SERIAL 23 SELF-TEST .. 24 MPU-9250 SOLUTION USING I2C INTERFACE .. 25 MPU-9250 Product Specification Document Number: PS-MPU-9250A- 01 revision : Release Date: 06/20/2016 Page 3 of 42 MPU-9250 SOLUTION USING SPI INTERFACE .. 26 CLOCKING .. 26 SENSOR DATA REGISTERS .. 27 FIFO.

4 27 INTERRUPTS .. 27 DIGITAL-OUTPUT TEMPERATURE SENSOR .. 27 BIAS AND LDO .. 28 CHARGE PUMP .. 28 STANDARD POWER MODE .. 28 POWER SEQUENCING REQUIREMENTS AND POWER ON RESET .. 28 5 ADVANCED HARDWARE FEATURES .. 29 6 PROGRAMMABLE INTERRUPTS .. 30 WAKE-ON-MOTION INTERRUPT .. 30 7 DIGITAL INTERFACE .. 32 I2C AND SPI SERIAL INTERFACES .. 32 I2C INTERFACE .. 32 I2C COMMUNICATIONS PROTOCOL .. 32 I2C TERMS .. 35 SPI INTERFACE .. 36 8 SERIAL INTERFACE CONSIDERATIONS .. 37 MPU-9250 SUPPORTED INTERFACES .. 37 9 ASSEMBLY .. 38 ORIENTATION OF AXES.

5 38 PACKAGE DIMENSIONS .. 38 10 PART NUMBER PACKAGE MARKING .. 40 11 RELIABILITY .. 41 QUALIFICATION TEST POLICY .. 41 QUALIFICATION TEST PLAN .. 41 12 REFERENCE .. 42 MPU-9250 Product Specification Document Number: PS-MPU-9250A- 01 revision : Release Date: 06/20/2016 Page 4 of 42 1 Document Information Revision History Revision Date Revision Description 12/18/13 Initial Release 06/20/16 Updated Section 4 MPU-9250 Product Specification Document Number: PS-MPU-9250A- 01 revision : Release Date: 06/20/2016 Page 5 of 42 Purpose and Scope This document provides a description, specifications, and design related information on the MPU-9250 MotionTracking device.

6 The device is housed in a small 3x3x1mm QFN package. Specifications are subject to change without notice. Final specifications will be updated based upon characterization of production silicon. For references to register map and descriptions of individual registers, please refer to the MPU-9250 Register Map and Register Descriptions document. Product Overview MPU-9250 is a multi-chip module (MCM) consisting of two dies integrated into a single QFN package. One die houses the 3-Axis gyroscope and the 3-Axis accelerometer. The other die houses the AK8963 3-Axis magnetometer from Asahi Kasei Microdevices Corporation.

7 Hence, the MPU-9250 is a 9-axis MotionTracking device that combines a 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer and a Digital Motion Processor (DMP) all in a small 3x3x1mm package available as a pin-compatible upgrade from the MPU-6515. With its dedicated I2C sensor bus, the MPU-9250 directly provides complete 9-axis MotionFusion output. The MPU-9250 MotionTracking device, with its 9-axis integration, on-chip MotionFusion , and run-time calibration firmware, enables manufacturers to eliminate the costly and complex selection, qualification, and system level integration of discrete devices, guaranteeing optimal motion performance for consumers.

8 MPU-9250 is also designed to interface with multiple non-inertial digital sensors, such as pressure sensors, on its auxiliary I2C port. MPU-9250 features three 16-bit analog-to-digital converters (ADCs) for digitizing the gyroscope outputs, three 16-bit ADCs for digitizing the accelerometer outputs, and three 16-bit ADCs for digitizing the magnetometer outputs. For precision tracking of both fast and slow motions, the parts feature a user-programmable gyroscope full-scale range of 250, 500, 1000, and 2000 /sec (dps), a user-programmable accelerometer full-scale range of 2g, 4g, 8g, and 16g, and a magnetometer full-scale range of 4800 T.

9 Other industry-leading features include programmable digital filters, a precision clock with 1% drift from -40 C to 85 C, an embedded temperature sensor, and programmable interrupts. The device features I2C and SPI serial interfaces, a VDD operating range of to , and a separate digital IO supply, VDDIO from to VDD. Communication with all registers of the device is performed using either I2C at 400kHz or SPI at 1 MHz. For applications requiring faster communications, the sensor and interrupt registers may be read using SPI at 20 MHz. By leveraging its patented and volume-proven CMOS-MEMS fabrication platform, which integrates MEMS wafers with companion CMOS electronics through wafer-level bonding, InvenSense has driven the package size down to a footprint and thickness of 3x3x1mm, to provide a very small yet high performance low cost package.

10 The device provides high robustness by supporting 10,000g shock reliability. Applications Location based services, points of interest, and dead reckoning Handset and portable gaming Motion-based game controllers 3D remote controls for Internet connected DTVs and set top boxes, 3D mice Wearable sensors for health, fitness and sports MPU-9250 Product Specification Document Number: PS-MPU-9250A- 01 revision : Release Date: 06/20/2016 Page 6 of 42 2 Features Gyroscope Features The triple-axis MEMS gyroscope in the MPU-9250 includes a wide range of features.